EP2347219B1 - Laser gyro comprising a cylindrical solid-state rod laser amplifier, and associated method of exciting a cylindrical solid-state rod laser gyro amplifier - Google Patents

Laser gyro comprising a cylindrical solid-state rod laser amplifier, and associated method of exciting a cylindrical solid-state rod laser gyro amplifier Download PDF

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Publication number
EP2347219B1
EP2347219B1 EP09744377A EP09744377A EP2347219B1 EP 2347219 B1 EP2347219 B1 EP 2347219B1 EP 09744377 A EP09744377 A EP 09744377A EP 09744377 A EP09744377 A EP 09744377A EP 2347219 B1 EP2347219 B1 EP 2347219B1
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Prior art keywords
axis
revolution
piezoelectric element
gyrolaser
annular
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German (de)
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EP2347219A1 (en
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Eric Loil
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Thales SA
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Thales SA
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
    • G01C19/66—Ring laser gyrometers
    • G01C19/661—Ring laser gyrometers details

Definitions

  • the invention relates to a laser gyro comprising an amplifying solid cylindrical bar, a system for measuring one to three angular speeds, and a method for the excitation of an amplifying solid element.
  • a gyrometer is a motion sensor that measures the rotational speed of the sensor's reference system with respect to a Galilean reference system, along one or more axes.
  • Laser gyrometers also called gyrolasers
  • a gaseous amplifying medium which is usually a mixture of helium and neon.
  • a solid state amplifier gyrolaser in which the gaseous amplifying medium is replaced by a solid element, for example a YAG (Yttrium-aluminum-garnet) doped neodymium matrix.
  • the principle of operation of a laser gyro is based on the Sagnac effect of a bidirectional ring laser cavity driven by a rotational movement.
  • the Sagnac effect induces a difference in frequency ⁇ between two so-called contra-propagative optical transmission modes propagating in opposite directions inside the cavity.
  • the modes propagating in opposite directions share the same amplifying atoms.
  • the two counter-propagating modes have equal or very close frequencies, the resulting interference signal is a stationary, possibly mobile, wave.
  • the atoms of the gain medium participate all the more in the process of stimulated emission that they are close to a belly of the standing wave and the less so that they are close to a node.
  • the French patent application FR 2905005 (THALES ), describes a laser gyro comprising at least one ring optical cavity and a solid state amplifying medium arranged so that two so-called contra-propagative optical modes can propagate in opposite directions to one another inside of said optical cavity and pass through the amplifying medium.
  • the amplifying medium is coupled to a transducer device ensuring the amplifying medium a periodic translation movement along an axis substantially parallel to the direction of propagation of said optical modes.
  • Such a device makes it possible to modulate the longitudinal position of the active crystal around an average position, so that the atoms of the crystal are in motion with respect to the nodes and the bellies of the interference pattern formed by the two counterpropagating modes, whatever the difference in frequency between these two modes.
  • Such a device makes it possible to reduce the contrast of the gain network, and therefore its adverse effects for gyro measurements while not modifying the length of the cavity. It also makes it possible to attenuate the effects of the backscattering induced by the amplifying medium.
  • this device potentially constitutes a device for treating the blind zone that may, depending on the case, be substituted for or be complementary to the usual device for mechanical activation.
  • Such a device must allow a high excitation frequency, necessary for use in the field of civil aviation or in a weapons system.
  • This excitation frequency must be greater than the difference in frequencies that appears between the two counter-propagating modes for an angular velocity at the input of the gyrometer corresponding to the desired measurement range.
  • a technical difficulty lies in obtaining a sufficiently high mechanical excitation frequency, of the order of a few hundred kHz, combined with a large amplitude of oscillation, of the order of a few microns, without altering the characteristics. geometric and dimensional dimensions of the crystal forming the solid amplifying medium. Indeed, the desired excitation frequency approximates the natural vibration frequencies of the crystal or any other solid of neighboring size, of the order of a few millimeters.
  • An object of the invention is to overcome the various problems mentioned above.
  • Such a gyrolaser makes it possible, in accordance with the principles described above, to produce the excitation of the solid crystal bar at the desired frequency and amplitude for the desired applications, while guaranteeing the minimum of geometric disturbances or variations. dimensions of the crystal detrimental to the smooth operation of the laser gyro.
  • the internal diameter of said annular piezoelectric element and the internal diameter of said annular dynamic counterbalance are greater than a threshold.
  • the incident laser beam is not obstructed or limited because this threshold is greater than the diameter of the laser beam.
  • the inner diameter of said annular piezoelectric element and the inner diameter of said annular dynamic counterbalance are equal.
  • the amplifying solid element comprises any combination of the following solid amplifying media: Nd: YAG crystal, Nd: KGW, Nd: YVO 4 , Yb: GdCOB, and Nd, Cr: GSGG.
  • Gyrolaser according to one of the preceding claims, wherein said frequency f can be between 100 and 250 kHz.
  • said fixed fixtures are rigid couplings Young modulus of the order of GPa, and thin thickness less than 0.02 mm.
  • said annular piezoelectric element comprises two central ring-shaped surface electrodes arranged on the extreme straight sections of said annular piezoelectric element.
  • the surface electrodes controlled by electrical voltages make it possible to manage the vibrations of the solid cylindrical bar amplifier.
  • the laser gyro comprises suspension means adapted to fix and decouple the amplifying solid cylindrical bar in vibration with an external system or a support on which it is mounted, said suspension means comprising an outer ring of said annular piezoelectric element.
  • the outer annular section of the annular piezoelectric element thus has a role of suspension allowing the attachment and the decoupling in vibration of the solid cylindrical bar amplifier vis-à-vis the system embedding the gyrolaser or a support such as an outer casing laser gyro.
  • said suspension means further comprise flexible glue Young's modulus of the order of MPa.
  • Measuring system of one to three angular velocities or measuring one to three relative angular positions along respective axes characterized in that it comprises one to three gyrolasers according to one of the preceding claims, respectively oriented along said respective axes, and mounted on a common mechanical structure.
  • Such a multi-axis measuring system allows the pooling of subsets, such as mirrors, or servitude means, such as activation devices, in a compact and homogeneous assembly that is favorable to space, weight or performance. .
  • a method of exciting a solid cylindrical gyro laser amplifier bar comprising an axis of revolution, characterized in that said amplifier solid element is excited at a predetermined frequency f by an annular piezoelectric element fixedly mounted on one of the two extremal straight sections of the solid cylindrical bar amplifier so that its axis of revolution coincides with said axis of revolution of said solid cylindrical bar amplifier, and balancing the unbalance induced by an annular dynamic counterbalance fixedly mounted on the free end section of said free element annular piezoelectric so that its axis of revolution coincides with said axis of revolution of said solid cylindrical bar amplifier.
  • the laser gyrolaser comprises an amplifying solid cylindrical bar, such as an Nd: YAG crystal, referenced SA.
  • the solid state amplifier element may be any combination of the Nd: KGW, Nd: YVO 4 , Yb: GdCOB, and Nd, Cr: GSGG solidifying amplifying media.
  • An annular piezoelectric element PE controlled by two annular electrodes ELT1 and ELT2, makes it possible to vibrate the cylindrical rod-shaped amplifier solid element SA, at a determined frequency f along the axis ASR.
  • the geometry of the solid cylindrical bar amplifier SA and in particular its dimensioning, is designed so that at the vibration frequency f, it can be considered as a dimensionally stable solid.
  • the annular piezoelectric element PE is fixedly mounted, by rigid bonding, on an extreme cross section of the solid cylindrical bar amplifier SA.
  • the geometry of the solid cylindrical bar amplifier SA and in particular its dimensioning is developed so that at the vibration frequency f, it can be considered as a dimensionally stable solid.
  • Such rigid bonding is typically less than about 0.02 mm thick, and Young's modulus of the order of GPa.
  • this vibration setting at a frequency of up to 250 kHz, can be performed by thermal excitation, magnetic mechanics, or any combination of these excitations.
  • the laser gyro includes a counterbalance dynamic or counterbalance CBD fixedly mounted by rigid bonding of a thickness less than about 0.02 mm, Young's modulus of the order of GPa, on the free end cross section of the annular piezoelectric element PE, so that its axis of revolution coincides with the axis of revolution ASR of the solid cylindrical bar amplifier SA.
  • the central part is excited electrically in axial mode to obtain the desired oscillation of the solid cylindrical bar amplifier SA, but generating an effect in radial mode, because the annular piezoelectric element PE also deforms in the radial direction.
  • the external inactive part of the annular piezoelectric element PE makes it possible to filter a large part of the vibrations which are transmitted to an external system or a support on which it is mounted.
  • vibration decoupling which can be improved, for example by a flexible bonding assembly of Young's module of the order of MPa.
  • Counterbalance CBD balances the axial vibration of the solid cylindrical bar amplifier SA.
  • This dynamic counterbalance CBD is itself set in axial vibration in the opposite direction to the vibration of the solid cylindrical bar amplifier SA.
  • the present invention makes it possible to obtain a gyrolaser comprising an amplifying solid element in a vibratory translation movement at a high frequency of up to 250 kHz.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)
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Description

L'invention porte sur un gyrolaser comprenant un barreau cylindrique solide amplificateur, un système de mesure de une à trois vitesses angulaires, et un procédé associé d'excitation d'un élément solide amplificateur.The invention relates to a laser gyro comprising an amplifying solid cylindrical bar, a system for measuring one to three angular speeds, and a method for the excitation of an amplifying solid element.

Un gyromètre est un capteur de mouvement qui permet de mesurer la vitesse de rotation du référentiel du capteur par rapport à un référentiel galiléen, suivant un ou plusieurs axes.A gyrometer is a motion sensor that measures the rotational speed of the sensor's reference system with respect to a Galilean reference system, along one or more axes.

Les gyromètres laser, également appelés gyrolasers, utilisent, dans leur majorité, un milieu amplificateur gazeux qui est habituellement un mélange d'hélium et de néon. Cependant, il est possible d'utiliser un gyrolaser à milieu amplificateur à état solide, dans lequel le milieu amplificateur gazeux est remplacé par un élément solide, par exemple une matrice de YAG (Yttrium-Aluminium-Grenat) dopée Néodyme.Laser gyrometers, also called gyrolasers, use, for the most part, a gaseous amplifying medium which is usually a mixture of helium and neon. However, it is possible to use a solid state amplifier gyrolaser, in which the gaseous amplifying medium is replaced by a solid element, for example a YAG (Yttrium-aluminum-garnet) doped neodymium matrix.

Le principe de fonctionnement d'un gyrolaser est fondé sur l'effet Sagnac d'une cavité laser en anneau bidirectionnelle animée d'un mouvement de rotation. L'effet Sagnac induit une différence de fréquence Ω entre deux modes optiques d'émission dits contra-propagatifs se propageant en sens opposés à l'intérieur de la cavité. Dans les milieux solides habituellement utilisés, dont le Nd:YAG, les modes se propageant dans des sens opposés se partagent les mêmes atomes amplificateurs. On parle alors de gain homogène. Lorsque les deux modes contra-propagatifs ont des fréquences égales ou très proches, le signal d'interférence qui en résulte est une onde stationnaire, éventuellement mobile. Les atomes du milieu à gain participent d'autant plus au processus d'émission stimulée qu'ils sont proches d'un ventre de l'onde stationnaire et d'autant moins qu'ils sont proches d'un noeud. Il se crée alors dans le milieu à gain un réseau d'inversion de population, inscrit par l'onde stationnaire. Ce réseau subsiste tant que les fréquences des deux modes contra-propagatifs sont suffisamment proches. Son contraste est d'autant plus faible que la différence de fréquence est grande devant l'inverse du temps de vie du niveau excité.The principle of operation of a laser gyro is based on the Sagnac effect of a bidirectional ring laser cavity driven by a rotational movement. The Sagnac effect induces a difference in frequency Ω between two so-called contra-propagative optical transmission modes propagating in opposite directions inside the cavity. In the normally used solid media, including Nd: YAG, the modes propagating in opposite directions share the same amplifying atoms. We then speak of homogeneous gain. When the two counter-propagating modes have equal or very close frequencies, the resulting interference signal is a stationary, possibly mobile, wave. The atoms of the gain medium participate all the more in the process of stimulated emission that they are close to a belly of the standing wave and the less so that they are close to a node. It is then created in the middle gain a network of inversion of population, inscribed by the standing wave. This network remains as long as the frequencies of the two contra-propagative modes are sufficiently close. Its contrast is weaker as the difference in frequency is large compared to the inverse of the life time of the excited level.

La demande de brevet français FR 2905005 (THALES ), décrit un gyrolaser comportant au moins une cavité optique en anneau et un milieu amplificateur à l'état solide agencés de façon que deux modes optiques dits contra-propagatifs peuvent se propager en sens inverse l'un de l'autre à l'intérieur de ladite cavité optique et traverser le milieu amplificateur. Le milieu amplificateur est accouplé à un dispositif transducteur assurant au milieu amplificateur un mouvement de translation périodique selon un axe sensiblement parallèle à la direction de propagation desdits modes optiques.The French patent application FR 2905005 (THALES ), describes a laser gyro comprising at least one ring optical cavity and a solid state amplifying medium arranged so that two so-called contra-propagative optical modes can propagate in opposite directions to one another inside of said optical cavity and pass through the amplifying medium. The amplifying medium is coupled to a transducer device ensuring the amplifying medium a periodic translation movement along an axis substantially parallel to the direction of propagation of said optical modes.

Un tel dispositif permet de moduler la position longitudinale du cristal actif autour d'une position moyenne, afin que les atomes du cristal soient en mouvement par rapport aux noeuds et aux ventres de la figure d'interférence formée par les deux modes contra-propagatifs, quelle que soit la différence de fréquence entre ces deux modes. Un tel dispositif permet de diminuer le contraste du réseau de gain, et donc ses effets néfastes pour les mesures de gyrométrie tout en ne modifiant pas la longueur de la cavité. Il permet également d'atténuer les effets de la rétrodiffusion induite par le milieu amplificateur. Enfin, ce dispositif constitue potentiellement un dispositif de traitement de la zone aveugle pouvant, selon les cas, se substituer ou être complémentaire du dispositif habituel d'activation mécanique.Such a device makes it possible to modulate the longitudinal position of the active crystal around an average position, so that the atoms of the crystal are in motion with respect to the nodes and the bellies of the interference pattern formed by the two counterpropagating modes, whatever the difference in frequency between these two modes. Such a device makes it possible to reduce the contrast of the gain network, and therefore its adverse effects for gyro measurements while not modifying the length of the cavity. It also makes it possible to attenuate the effects of the backscattering induced by the amplifying medium. Finally, this device potentially constitutes a device for treating the blind zone that may, depending on the case, be substituted for or be complementary to the usual device for mechanical activation.

Un tel dispositif doit permettre une fréquence d'excitation élevée, nécessaire à une utilisation dans le domaine de l'aviation civile ou dans un système d'armes. Cette fréquence d'excitation doit être supérieure à la différence de fréquences qui apparaît entre les deux modes contra-propagatifs pour une vitesse angulaire en entrée du gyromètre correspondant au domaine de mesure recherché.Such a device must allow a high excitation frequency, necessary for use in the field of civil aviation or in a weapons system. This excitation frequency must be greater than the difference in frequencies that appears between the two counter-propagating modes for an angular velocity at the input of the gyrometer corresponding to the desired measurement range.

Une difficulté technique réside dans l'obtention d'une fréquence d'excitation mécanique suffisamment élevée, de l'ordre de quelques centaines de kHz, combinée à une amplitude d'oscillation importante, de l'ordre de quelques microns, sans altération des caractéristiques géométriques et dimensionnelles du cristal formant le milieu amplificateur solide. En effet, la fréquence d'excitation recherchée se rapproche des fréquences propres de vibrations du cristal ou de tout autre solide de dimension voisine, de l'ordre de quelques millimètres.A technical difficulty lies in obtaining a sufficiently high mechanical excitation frequency, of the order of a few hundred kHz, combined with a large amplitude of oscillation, of the order of a few microns, without altering the characteristics. geometric and dimensional dimensions of the crystal forming the solid amplifying medium. Indeed, the desired excitation frequency approximates the natural vibration frequencies of the crystal or any other solid of neighboring size, of the order of a few millimeters.

Un but de l'invention est de pallier aux divers problèmes précédemment cités.An object of the invention is to overcome the various problems mentioned above.

Notamment, la présente invention permet de réaliser un résonateur mécanique parfait répondant aux conditions précitées, en :

  • limitant la taille et le nombre d'éléments de ce dispositif pour éviter de mettre en résonance des parties inutiles, voire perturbatrice vis-à-vis de la vibration d'ensemble recherchée ;
  • concevant des assemblages permettant de raccorder ces éléments entre eux sans risque d'atténuation de l'excitation ni de déformations indésirables au niveau du cristal ;
  • utilisant une architecture de résonateur garantissant le meilleur isolement possible vis-à-vis du support extérieur, par exemple en exploitant le principe du diapason dans laquelle la vibration d'une partie du résonateur (cristal) est dynamiquement équilibrée par celle d'une autre partie, parfaitement symétrique (contre-balourd), garantissant ainsi une résultante de vibration quasi-nulle au point de liaison choisi comme point de fixation isolée vis-à-vis du support extérieur.
In particular, the present invention makes it possible to produce a perfect mechanical resonator satisfying the aforementioned conditions, by:
  • limiting the size and number of elements of this device to avoid resonating unnecessary parts, or even disruptive vis-à-vis the desired overall vibration;
  • designing assemblies for connecting these elements together without risk of attenuation of excitation or unwanted deformations at the crystal;
  • using a resonator architecture that guarantees the best possible isolation with respect to the external support, for example by exploiting the tuning fork principle in which the vibration of one part of the resonator (crystal) is dynamically balanced by that of another part perfectly symmetrical (counter-unbalance), thus guaranteeing a resultant of almost zero vibration at the point of connection chosen as the isolated point of attachment vis-a-vis the external support.

Aussi, il est proposé, selon un aspect de l'invention, un gyrolaser comprenant un barreau cylindrique solide amplificateur comprenant un axe de révolution. Le gyrolaser comprend, en outre :

  • un élément piézo-électrique annulaire d'excitation dudit élément solide amplificateur à une fréquence f prédéterminée, selon ledit axe de révolution, ledit élément piézo-électrique annulaire étant monté fixement sur une des deux sections droites extrémale du barreau cylindrique solide amplificateur de sorte que son axe de révolution coïncide avec ledit axe de révolution dudit barreau cylindrique solide amplificateur ; et
  • un contre-balourd dynamique annulaire monté fixement sur la section droite extrêmale libre dudit élément piézo-électrique annulaire de sorte que son axe de révolution coïncide avec ledit axe de révolution dudit barreau cylindrique solide amplificateur ;
Also, it is proposed, according to one aspect of the invention, a gyrolaser comprising a solid cylindrical bar amplifier comprising an axis of revolution. The laser gyro further comprises:
  • an annular piezoelectric element for exciting said solid amplifying element at a predetermined frequency f, according to said axis of revolution, said annular piezoelectric element being fixedly mounted on one of the two extreme straight sections of the solid cylindrical solid bar so that its axis of revolution coincides with said axis of revolution of said solid cylindrical bar amplifier; and
  • an annular dynamic counterbalance fixedly mounted on the free end cross section of said annular piezoelectric element so that its axis of revolution coincides with said axis of revolution of said solid cylindrical solid bar;

Un tel gyrolaser permet de réaliser, conformément aux principes décrits précédemment, l'excitation du barreau de cristal solide à la fréquence et à l'amplitude visée pour les applications recherchées, tout en garantissant le minimum de perturbations d'ordre géométrique ou de variations dimensionnelles du cristal préjudiciables au bon fonctionnement du gyrolaser.Such a gyrolaser makes it possible, in accordance with the principles described above, to produce the excitation of the solid crystal bar at the desired frequency and amplitude for the desired applications, while guaranteeing the minimum of geometric disturbances or variations. dimensions of the crystal detrimental to the smooth operation of the laser gyro.

Selon un mode de réalisation, le diamètre interne dudit élément piézo-électrique annulaire et le diamètre interne dudit contre-balourd dynamique annulaire sont supérieurs à un seuil.According to one embodiment, the internal diameter of said annular piezoelectric element and the internal diameter of said annular dynamic counterbalance are greater than a threshold.

Ainsi, le faisceau laser incident n'est pas obstrué ou limité, car ce seuil est supérieur au diamètre du faisceau laser.Thus, the incident laser beam is not obstructed or limited because this threshold is greater than the diameter of the laser beam.

Dans un mode de réalisation, le diamètre interne dudit élément piézo-électrique annulaire et le diamètre interne dudit contre-balourd dynamique annulaire sont égaux.In one embodiment, the inner diameter of said annular piezoelectric element and the inner diameter of said annular dynamic counterbalance are equal.

Ainsi, tout l'espace disponible autour du passage du faisceau est optimisé afin de privilégier la compacité et la rigidité des éléments constitutifs du résonateur ainsi que leur mode d'assemblage.Thus, all the space available around the passage of the beam is optimized in order to favor the compactness and rigidity of the constituent elements of the resonator as well as their method of assembly.

Selon un mode de réalisation, l'élément solide amplificateur comprend une combinaison quelconque des milieux solides amplificateurs suivants: cristal Nd:YAG, Nd:KGW, Nd:YVO4, Yb:GdCOB, et Nd,Cr:GSGG. Gyrolaser selon l'une des revendications précédentes, dans lequel ladite fréquence f peut être comprise entre 100 et 250 kHz.According to one embodiment, the amplifying solid element comprises any combination of the following solid amplifying media: Nd: YAG crystal, Nd: KGW, Nd: YVO 4 , Yb: GdCOB, and Nd, Cr: GSGG. Gyrolaser according to one of the preceding claims, wherein said frequency f can be between 100 and 250 kHz.

Dans un mode de réalisation, lesdits montages fixes sont des collages rigides de module d'Young de l'ordre du GPa, et d'épaisseur fine inférieure à 0,02 mm.In one embodiment, said fixed fixtures are rigid couplings Young modulus of the order of GPa, and thin thickness less than 0.02 mm.

L'utilisation de collages rigides présente l'avantage de réduire les contraintes et les déformations du barreau de cristal lors de son assemblage avec les autres éléments et de constituer une interface fiable et efficace vis-à-vis de la transmission des ondes vibratoires avec une faible atténuation de l'excitation à travers l'épaisseur du joint.The use of rigid collages has the advantage of reducing the stresses and deformations of the crystal bar during its assembly with the other elements and of constituting a reliable and efficient interface with respect to the transmission of vibratory waves with a low attenuation of the excitation through the thickness of the joint.

Selon un mode de réalisation, ledit élément piézo-électrique annulaire comprend deux électrodes surfaciques en forme de couronnes centrales disposées sur les sections droites extrémales dudit élément piézo-électrique annulaire.According to one embodiment, said annular piezoelectric element comprises two central ring-shaped surface electrodes arranged on the extreme straight sections of said annular piezoelectric element.

Les électrodes surfaciques commandées en tensions électriques, permettent de gérer les vibrations du barreau cylindrique solide amplificateur.The surface electrodes controlled by electrical voltages, make it possible to manage the vibrations of the solid cylindrical bar amplifier.

Dans un mode de réalisation, le gyrolaser comprend des moyens de suspension adaptés pour fixer et de découpler en vibration le barreau cylindrique solide amplificateur avec un système extérieur ou un support sur lequel il est monté, lesdits moyens de suspension comprenant une couronne extérieure dudit élément piézo-électrique annulaire.In one embodiment, the laser gyro comprises suspension means adapted to fix and decouple the amplifying solid cylindrical bar in vibration with an external system or a support on which it is mounted, said suspension means comprising an outer ring of said annular piezoelectric element.

La section annulaire externe de l'élément piézo-électrique annulaire a ainsi un rôle de suspension permettant la fixation et le découplage en vibration du barreau cylindrique solide amplificateur vis-à-vis du système embarquant le gyrolaser ou d'un support tel un boîtier externe du gyrolaser.The outer annular section of the annular piezoelectric element thus has a role of suspension allowing the attachment and the decoupling in vibration of the solid cylindrical bar amplifier vis-à-vis the system embedding the gyrolaser or a support such as an outer casing laser gyro.

Selon un mode de réalisation, lesdits moyens de suspension comprennent, en outre, de la colle souple de module d'Young de l'ordre du MPa.According to one embodiment, said suspension means further comprise flexible glue Young's modulus of the order of MPa.

L'utilisation d'une telle colle souple accentue le découplage en vibration du barreau cylindrique solide amplificateur vis-à-vis du système embarquant le gyrolaser ou d'un support tel un boîtier externe du gyrolaser.The use of such a flexible glue accentuates the vibration decoupling of the solid cylindrical bar amplifier vis-à-vis the system embedding the laser gyro or a support such as an outer casing of the laser gyro.

Système de mesure de une à trois vitesses angulaires ou de mesure de une à trois positions angulaires relatives selon des axes respectifs, caractérisé en ce qu'il comporte un à trois gyrolasers selon l'une des revendications précédentes, respectivement orientés selon lesdits axes respectifs, et montés sur une structure mécanique commune.Measuring system of one to three angular velocities or measuring one to three relative angular positions along respective axes, characterized in that it comprises one to three gyrolasers according to one of the preceding claims, respectively oriented along said respective axes, and mounted on a common mechanical structure.

Un tel système de mesure multiaxes permet la mise en commun de sous-ensembles, tels les miroirs, ou de moyens de servitude, tels les dispositifs d'activation, dans un ensemble compact et homogène favorable à l'encombrement, au poids ou aux performances.Such a multi-axis measuring system allows the pooling of subsets, such as mirrors, or servitude means, such as activation devices, in a compact and homogeneous assembly that is favorable to space, weight or performance. .

Procédé d'excitation d'un barreau cylindrique solide amplificateur de gyrolaser, comprenant un axe de révolution, caractérisé en ce l'on excite ledit élément solide amplificateur à une fréquence f prédéterminée, par un élément piézo-électrique annulaire monté fixement sur une des deux sections droites extrémale du barreau cylindrique solide amplificateur de sorte que son axe de révolution coïncide avec ledit axe de révolution dudit barreau cylindrique solide amplificateur, et on équilibre le balourd induit par un contre-balourd dynamique annulaire monté fixement sur la section droite extrêmale libre dudit élément piézo-électrique annulaire de sorte que son axe de révolution coïncide avec ledit axe de révolution dudit barreau cylindrique solide amplificateur.A method of exciting a solid cylindrical gyro laser amplifier bar, comprising an axis of revolution, characterized in that said amplifier solid element is excited at a predetermined frequency f by an annular piezoelectric element fixedly mounted on one of the two extremal straight sections of the solid cylindrical bar amplifier so that its axis of revolution coincides with said axis of revolution of said solid cylindrical bar amplifier, and balancing the unbalance induced by an annular dynamic counterbalance fixedly mounted on the free end section of said free element annular piezoelectric so that its axis of revolution coincides with said axis of revolution of said solid cylindrical bar amplifier.

L'invention sera mieux comprise à l'étude de quelques modes de réalisation décrits à titre d'exemples nullement limitatifs et illustrés par les dessins annexés sur lesquels :

  • la figure 1 est un schéma synoptique en vue de coupe d'un mode de réalisation d'un gyrolaser selon un aspect de l'invention ; et
  • la figure 2 est un schéma synoptique en vue externe d'un gyrolaser selon la figure 1, selon un aspect de l'invention.
The invention will be better understood by studying a few embodiments described by way of non-limiting examples and illustrated by the appended drawings in which:
  • the figure 1 is a schematic block diagram of one embodiment of a laser gyro according to one aspect of the invention; and
  • the figure 2 is a synoptic diagram in external view of a laser gyro according to the figure 1 according to one aspect of the invention.

Sur les différentes figures, les éléments ayant des références identiques sont identiques.In the various figures, the elements having identical references are identical.

Tel qu'illustré sur la figure 1, un gyrolaser en coupe, d'axe de symétrie de révolution ASR, est représenté.As illustrated on the figure 1 a section laser gyrolaser with an axis of symmetry of revolution ASR is shown.

Le gyrolaser comprend un barreau cylindrique solide amplificateur, tel un cristal Nd:YAG, référencé SA. En variante, l'élément amplificateur à état solide peut être une combinaison quelconque des milieux solides amplificateurs Nd:KGW, Nd:YVO4, Yb:GdCOB, et Nd,Cr:GSGG.The laser gyrolaser comprises an amplifying solid cylindrical bar, such as an Nd: YAG crystal, referenced SA. Alternatively, the solid state amplifier element may be any combination of the Nd: KGW, Nd: YVO 4 , Yb: GdCOB, and Nd, Cr: GSGG solidifying amplifying media.

Un élément piézo-électrique annulaire PE, commandée par deux électrodes ELT1 et ELT2 annulaires, permet de mettre en vibration l'élément solide amplificateur en forme de barreau cylindrique SA, à une fréquence f déterminée, selon l'axe ASR. La géométrie du barreau cylindrique solide amplificateur SA et en particulier son dimensionnement, est élaborée de sorte qu'à la fréquence de vibration f, il puisse être considéré comme un solide indéformable. L'élément piézo-électrique annulaire PE est monté fixement, par collage rigide, sur une section droite extrémale du barreau cylindrique solide amplificateur SA. De manière fonctionnelle, la géométrie du barreau cylindrique solide amplificateur SA et en particulier son dimensionnement, est élaboré de sorte qu'à la fréquence de vibration f, il puisse être considéré comme un solide indéformable. Un tel collage rigide est typiquement d'une épaisseur inférieure à environ 0,02 mm, et de module d'Young de l'ordre du GPa.An annular piezoelectric element PE, controlled by two annular electrodes ELT1 and ELT2, makes it possible to vibrate the cylindrical rod-shaped amplifier solid element SA, at a determined frequency f along the axis ASR. The geometry of the solid cylindrical bar amplifier SA and in particular its dimensioning, is designed so that at the vibration frequency f, it can be considered as a dimensionally stable solid. The annular piezoelectric element PE is fixedly mounted, by rigid bonding, on an extreme cross section of the solid cylindrical bar amplifier SA. Functionally, the geometry of the solid cylindrical bar amplifier SA and in particular its dimensioning, is developed so that at the vibration frequency f, it can be considered as a dimensionally stable solid. Such rigid bonding is typically less than about 0.02 mm thick, and Young's modulus of the order of GPa.

En variante, cette mise en vibration, à une fréquence pouvant aller jusqu'à 250 kHz, peut être effectuée par excitation thermique, mécanique magnétique, ou toute combinaison de ces excitations.Alternatively, this vibration setting, at a frequency of up to 250 kHz, can be performed by thermal excitation, magnetic mechanics, or any combination of these excitations.

Le gyrolaser comprend un contre-balourd dynamique ou contre-balourd CBD monté fixement par collage rigide d'une épaisseur inférieure à environ 0,02 mm, de module d'Young de l'ordre du GPa, sur la section droite extrêmale libre de l'élément piézo-électrique annulaire PE, de sorte que son axe de révolution coïncide avec l'axe de révolution ASR du barreau cylindrique solide amplificateur SA.The laser gyro includes a counterbalance dynamic or counterbalance CBD fixedly mounted by rigid bonding of a thickness less than about 0.02 mm, Young's modulus of the order of GPa, on the free end cross section of the annular piezoelectric element PE, so that its axis of revolution coincides with the axis of revolution ASR of the solid cylindrical bar amplifier SA.

On a ainsi une zone élastique active formée par la partie centrale de l'élément piézo-électrique annulaire PE, et une zone élastique inactive formée par la partie périphérique de l'élément piézo-électrique annulaire PE.There is thus an active elastic zone formed by the central portion of the annular piezoelectric element PE, and an inactive elastic zone formed by the peripheral portion of the annular piezoelectric element PE.

La partie centrale est excitée électriquement en mode axial pour obtenir l'oscillation souhaitée du barreau cylindrique solide amplificateur SA, mais générant un effet en mode radial, car l'élément piézo-électrique annulaire PE se déforme également dans le sens radial. Mais la partie inactive externe de l'élément piézo-électrique annulaire PE permet de filtrer une grande partie des vibrations qui sont transmises à un système extérieur ou un support sur lequel il est monté.The central part is excited electrically in axial mode to obtain the desired oscillation of the solid cylindrical bar amplifier SA, but generating an effect in radial mode, because the annular piezoelectric element PE also deforms in the radial direction. But the external inactive part of the annular piezoelectric element PE makes it possible to filter a large part of the vibrations which are transmitted to an external system or a support on which it is mounted.

On a ainsi un découplage en vibration, qui peut être amélioré, par exemple par un montage par collage souple de module d'Young de l'ordre du MPa.There is thus a vibration decoupling, which can be improved, for example by a flexible bonding assembly of Young's module of the order of MPa.

Le contre-balourd CBD permet l'équilibrage de la vibration axiale du barreau cylindrique solide amplificateur SA. Ce contre-balourd dynamique CBD est lui-même mis en vibration axiale dans le sens opposée à la vibration du barreau cylindrique solide amplificateur SA. On a ainsi une résultante de vibration axiale sensiblement nulle au niveau de l'élément piézo-électrique PE intermédiaire servant de point de fixation de l'ensemble, ce qui constitue un excellent découplage dynamique vis-à-vis du support extérieur.Counterbalance CBD balances the axial vibration of the solid cylindrical bar amplifier SA. This dynamic counterbalance CBD is itself set in axial vibration in the opposite direction to the vibration of the solid cylindrical bar amplifier SA. Thus, there is a substantially zero axial vibration resultant at the intermediate piezoelectric element PE serving as a point of attachment of the assembly, which constitutes an excellent dynamic decoupling vis-à-vis the external support.

A titre d'exemple, on peut obtenir des vibrations à une fréquence f supérieure à 250 kHz pour une hauteur Hsa du barreau cylindrique solide amplificateur d'environ 3 mm et un diamètre d'environ 3 mm. Le diamètre externe DEpe de l'élément piézo-électrique annulaire PE est alors d'environ 10 mm, et le diamètre interne DI, commun à l'élément piézo-électrique annulaire PE et au contre-balourd dynamique CBD, est d'environ 3 mm.By way of example, it is possible to obtain vibrations at a frequency f greater than 250 kHz for a height Hsa of the solid cylindrical solid bar of about 3 mm and a diameter of about 3 mm. The outer diameter DEpe of the annular piezoelectric element PE is then approximately 10 mm, and the internal diameter DI, common to the annular piezoelectric element PE and the dynamic counterbalance CBD, is approximately 3 mm. mm.

La présente invention, permet d'obtenir un gyrolaser comprenant un élément solide amplificateur dans un mouvement vibratoire de translation, à une fréquence élevée pouvant aller jusqu'à 250 kHz.The present invention makes it possible to obtain a gyrolaser comprising an amplifying solid element in a vibratory translation movement at a high frequency of up to 250 kHz.

Claims (11)

  1. A gyrolaser comprising a solid cylindrical amplifying bar (SA) comprising an axis of revolution (ASR), said gyrolaser comprising:
    - an annular piezoelectric element (PE) for exciting said solid amplifying element at a predetermined frequency f along said axis of revolution (ASR), said annular piezoelectric element (PE) being fixedly mounted on one of the two straight end cross-sections of said solid cylindrical amplifying bar (SA), so that its axis of revolution coincides with said axis of revolution (ASR) of said solid cylindrical amplifying bar (SA), and characterised in that said gyrolaser comprises:
    - an annular dynamic counterbalance (CBD) fixedly mounted on the free straight end cross-section of said annular piezoelectric element (PE) so that its axis of revolution coincides with said axis of revolution (ASR) of said solid cylindrical amplifying bar (SA).
  2. The gyrolaser according to claim 1, wherein the internal diameter (DI) of said annular piezoelectric element (PE) and the internal diameter (DI) of said annular dynamic counterbalance (CBD) are greater than a threshold.
  3. The gyrolaser according to claim 2, wherein the internal diameter (DI) of said annular piezoelectric element and the internal diameter (DI) of said annular dynamic counterbalance are equal.
  4. The gyrolaser according to any one of the preceding claims, wherein said solid amplifying element (SA) comprises any combination of the following solid amplifying media: crystal Nd:YAG, Nd:KGW, Nd:YVO4, Yb:GdCOB and Nd, Cr:GSGG.
  5. The gyrolaser according to any one of the preceding claims, wherein said frequency f can be between 100 and 250 kHz.
  6. The gyrolaser according to any one of the preceding claims, wherein said fixed mountings are rigid bonds with a Young modulus of the order of GPa and with a fine thickness of less than 0.02 mm.
  7. The gyrolaser according to any one of the preceding claims, wherein said annular piezoelectric element (PE) comprises two surface electrodes (ELT1, ELT2) in the form of central annular rings that are arranged on the straight end cross-sections of said annular piezoelectric element (PE).
  8. The gyrolaser according to any one of the preceding claims, comprising suspension means that are designed for fixing and vibration decoupling said solid cylindrical amplifying bar (SA) with an external system or a support on which it is mounted, said suspension means comprising an external annular cross-section of said annular piezoelectric element (PE).
  9. The gyrolaser according to claim 8, wherein said suspension means further comprise flexible glue with a Young modulus of the order of MPa.
  10. A system for measuring from one to three angular speeds or for measuring from one to three relative angular positions along respective axes, characterised in that it comprises from one to three gyrolasers according to any one of the preceding claims, respectively oriented along said respective axes and mounted on a common mechanical structure.
  11. A method for exciting a solid cylindrical amplifying bar (SA) of a gyrolaser, comprising an axis of revolution (ASR), characterised in that said solid amplifying element (SA) is excited at a predetermined frequency f by an annular piezoelectric element (PE) that is fixedly mounted on one of the two straight end cross-sections of said solid cylindrical amplifying bar (SA), so that its axis of revolution coincides with said axis of revolution (ASR) of said solid cylindrical amplifying bar (SA) and the induced unbalance is balanced by an annular dynamic counterbalance (CBD) that is fixedly mounted on the free straight end cross-section of said annular piezoelectric element (PE), so that its axis of revolution coincides with said axis of revolution (ASR) of said solid cylindrical amplifying bar (SA).
EP09744377A 2008-11-14 2009-10-26 Laser gyro comprising a cylindrical solid-state rod laser amplifier, and associated method of exciting a cylindrical solid-state rod laser gyro amplifier Not-in-force EP2347219B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0806376A FR2938655B1 (en) 2008-11-14 2008-11-14 GYROLASER COMPRISING A SOLID AMPLIFIER CYLINDRICAL BAR, AND ASSOCIATED METHOD OF EXCITATION OF A SOLID CYLINDRICAL BAR GYROLASER AMPLIFIER
PCT/EP2009/064053 WO2010054923A1 (en) 2008-11-14 2009-10-26 Laser gyro comprising a cylindrical solid-state rod laser amplifier, and associated method of exciting a cylindrical solid-state rod laser gyro amplifier

Publications (2)

Publication Number Publication Date
EP2347219A1 EP2347219A1 (en) 2011-07-27
EP2347219B1 true EP2347219B1 (en) 2013-02-27

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Application Number Title Priority Date Filing Date
EP09744377A Not-in-force EP2347219B1 (en) 2008-11-14 2009-10-26 Laser gyro comprising a cylindrical solid-state rod laser amplifier, and associated method of exciting a cylindrical solid-state rod laser gyro amplifier

Country Status (6)

Country Link
US (1) US8467068B2 (en)
EP (1) EP2347219B1 (en)
CN (1) CN102216730B (en)
FR (1) FR2938655B1 (en)
RU (1) RU2503925C2 (en)
WO (1) WO2010054923A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5116131A (en) * 1990-04-19 1992-05-26 Litton Systems, Inc. Mirror transducer assembly for ring laser gyroscopes
US5408492A (en) * 1993-05-21 1995-04-18 Smiths Industries Aerospace & Defense Systems, Inc. Solid medium optical ring laser rotation sensor
US6587205B2 (en) * 2000-07-28 2003-07-01 Litton Systems, Inc Integrated optic gyroscope and method of fabrication
GB2379506B (en) * 2001-09-11 2004-11-03 Transense Technologies Plc Vibratory gyroscope
GB0122258D0 (en) * 2001-09-14 2001-11-07 Bae Systems Plc Vibratory gyroscopic rate sensor
FR2854947B1 (en) * 2003-05-16 2005-07-01 Thales Sa SOLID STATE GYROLASER STABILIZED BY ACOUSTO-OPTICAL DEVICES
FR2905005B1 (en) * 2006-08-18 2008-09-26 Thales Sa SOLID STATE GYROLASER WITH MECHANICALLY ACTIVE GAIN MEDIUM.

Also Published As

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FR2938655B1 (en) 2012-06-01
FR2938655A1 (en) 2010-05-21
RU2011123791A (en) 2012-12-20
CN102216730A (en) 2011-10-12
EP2347219A1 (en) 2011-07-27
US20120099111A1 (en) 2012-04-26
RU2503925C2 (en) 2014-01-10
CN102216730B (en) 2014-07-30
WO2010054923A1 (en) 2010-05-20
US8467068B2 (en) 2013-06-18

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